Re: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 82, Issue 64

[Felix Ruess]

Hi Matthew,

I'm not really familiar with the VN-100, just had a quick look and if I'm correct it is not an IMU but an AHRS.
You apparently implemented it as an imu subsystem? So do you just get the calibrated and scaled values from the vn100 or do you read out the already estimated angles?
If it is the latter, it should probably adhere to the ahrs interface and be an ahrs subsystem, if you read the sensor values it should be an imu subsystem.

Now about the ins_vn100 module, I believed it is currently only used for fixedwings. Gautier knows more on this.
This was created before we started merging rotorcraft support properly and should be renamed to ahrs_vn100 and also use the ahrs interface.

There are currently some functions in fw_ins_v100.c to use it with fixedwings (update the soon to be deprecated estimator we still have). Hopefully we will have a proper state interface (position, attitude, etc.) and we can get rid of this. http://paparazzi.enac.fr/wiki/DevGuide/StateInterface

Then we can use all IMUs, AHRS, INS things for fixedwings and rotorcrafts.

Cheers, Felix

On Thu, Jan 27, 2011 at 6:08 PM, Matthew Plymale <address@hidden> wrote:

I was totally unaware of the existence of that module. It's not in the module list http://paparazzi.enac.fr/wiki/Modules_list

And it's not listed here either: http://paparazzi.enac.fr/wiki/Inertial_Measurement_Units#Vector-Nav_VN-100

I will look into using this module, thanks for letting me know.

Message: 1
Date: Thu, 27 Jan 2011 11:46:30 +0100
From: Felix Ruess <address@hidden>
Subject: Re: [Paparazzi-devel] Re: NPS Simulator: IMU Simulation
To: address@hidden
Message-ID:
       <address@hidden>
Content-Type: text/plain; charset="utf-8"

Another question.
Any particular reason that you decided to write your own using the VectorNav
lib and not the vn-100 module already in Paparazzi?

Cheers, Felix

On Thu, Jan 27, 2011 at 11:17 AM, Felix Ruess <address@hidden> wrote:

> Hi Matthew,
>
> great to hear! We really need to work on the sim as well, help there would
> be very much appreciated!
>
> Just some comments regarding licensing, etc.: Paparazzi is GPL, meaning
> that if you want to distribute/sell/share your work, according to the GPL
> you have to provide the source as well. If you just use it yourself at uni
> it is fine.
> But of course it would be great if you could contribute your
> changes/additions/fixes, Paparazzi basically lives from that.
> I also saw that you use the Vectornav VN-100 IMU and firmware library. I
> could not find any information on the license of the lib, so I'm not sure if
> we could actually put the parts of the lib we need into the paparazzi repo.
> On the other hand we probably don't need much of that anyway.
>
> Cheers, Felix
>
> On Thu, Jan 27, 2011 at 2:45 AM, Matthew Plymale <address@hidden>wrote:
>
>> I got the simulator working for our quadrotor! I can see the Google earth
>> tiles and our flight plan and all the settings in real time.
>> Many thanks for help with this, the culprit was indeed the -boot and -norc
>> options, along with tracking down a nasty sigfault in JSBSim
>> I hope to write more about our project on my wiki page in the coming days
>> (no pictures yet)
>> http://paparazzi.enac.fr/wiki/BoozUserList#Concordia_University
>> Not sure if our contract will allow us to commit our code to the public
>> repository, as the University technically owns our work. I will check back
>> on this.
>> Again thank you to all who answered my paparazzi-related questions
>> --
>> Matthew Plymale
>> Concordia University
>>
>> Date: Sun, 23 Jan 2011 18:44:10 +0100
>>
>> From: Felix Ruess <address@hidden>
>>
>>  Subject: Re: [Paparazzi-devel] Re: NPS Simulator: IMU Simulation
>>
>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>>
>
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